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#include <dart/dynamics/BoxShape.hpp>
#include <dart/dynamics/FreeJoint.hpp>
#include <dart/dynamics/ShapeNode.hpp>
#include <dart/dynamics/Skeleton.hpp>

#include <Eigen/Core>
#include <gtest/gtest.h>

using namespace dart::dynamics;

//==============================================================================
TEST(Issue896, SkeletonCloneDeepCopiesShapes)
{
  const auto skel = Skeleton::create("original");
  auto pair = skel->createJointAndBodyNodePair<FreeJoint>();
  auto* body = pair.second;

  const auto box = std::make_shared<BoxShape>(Eigen::Vector3d(1.0, 2.0, 3.0));
  body->createShapeNodeWith<VisualAspect, CollisionAspect>(box);

  const auto clone = skel->cloneSkeleton();
  ASSERT_TRUE(clone);

  auto* clonedBody = clone->getBodyNode(body->getName());
  ASSERT_NE(clonedBody, nullptr);
  // Use first shape node; cast checked below
  auto* clonedShapeNode = clonedBody->getShapeNodeWith<VisualAspect>(0);
  ASSERT_NE(clonedShapeNode, nullptr);

  const auto originalBox = std::dynamic_pointer_cast<BoxShape>(box);
  ASSERT_NE(originalBox, nullptr);
  const auto clonedBox
      = std::dynamic_pointer_cast<BoxShape>(clonedShapeNode->getShape());
  ASSERT_NE(clonedBox, nullptr);

  EXPECT_NE(originalBox.get(), clonedBox.get());

  const auto originalSize = originalBox->getSize();
  const Eigen::Vector3d clonedSize(0.25, 0.5, 0.75);

  clonedBox->setSize(clonedSize);
  EXPECT_EQ(originalBox->getSize(), originalSize);
  EXPECT_EQ(clonedBox->getSize(), clonedSize);
}
